Journal of Guangdong University of Technology ›› 2023, Vol. 40 ›› Issue (01): 77-82,91.doi: 10.12052/gdutxb.210098

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Design and Implementation of a Dropping Guidance Device for Go Robot

Zou Heng1, Gao Jun-li1, Zhang Shu-wen1, Song Hai-tao2   

  1. 1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China;
    2. School of Business Administration, South China University of Technology, Guangzhou 510640, China
  • Received:2021-07-06 Online:2023-01-25 Published:2023-01-12

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Abstract: In order to improve the interaction between go playing and teaching, a drop guidance device for go robot is designed, including visual processing and motion control modules. For the visual processing module, a standard chessboard image extraction method based on multi-scale detection is proposed to improve the stability of chessboard image extraction. A separate chessboard detector is used to detect the pieces in the reflective area of the chessboard, and the detection effect of chess pieces in uneven illumination area is improved. For the motion control module, the high-precision digital actuators and laser guider are used to construct the motion actuator. The kinematics modeling is completed by using the telescopic joint to simulate the laser light path. An error compensation method based on perspective transformation is proposed to realize the mapping of joint variables. The motion end position compensation is implemented through simulation calculation. Finally, the accuracy of vision module and the effectiveness of error compensation method of motion control module are verified experimentally.

Key words: image processing, kinematics modeling, perspective transformation, error compensation, go robot

CLC Number: 

  • TP391.4
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